UndistortDriver::UndistortDriver(std::shared_ptr<CameraDriverInterface> input,
const std::shared_ptr<calibu::Rig<double> > rig
)
: m_Input(input)
{
const size_t num_cams = rig->NumCams();
m_vLuts.resize(num_cams);
for(size_t ii=0; ii< num_cams; ++ii) {
const std::shared_ptr<calibu::CameraInterface<double>> cmod = rig->cameras_[ii];
// Allocate memory for LUTs.
m_vLuts[ii] = calibu::LookupTable(cmod->Width(), cmod->Height());
// Setup new camera model
// For now, assume no change in scale so return same params with
// no distortion.
Eigen::Vector2i size_;
Eigen::VectorXd params_(static_cast<int>(calibu::LinearCamera<double>::NumParams));
size_ << cmod->Width(), cmod->Height();
params_ << cmod->K()(0,0), cmod->K()(1,1), cmod->K()(0,2), cmod->K()(1,2);
std::shared_ptr<calibu::CameraInterface<double>> new_cam(new calibu::LinearCamera<double>(params_, size_));
m_CamModel.push_back(new_cam);
calibu::CreateLookupTable(rig->cameras_[ii], new_cam->K().inverse(), m_vLuts[ii]);
}
}
status_t CameraSource::initWithCameraAccess(
const sp<ICamera>& camera,
const sp<ICameraRecordingProxy>& proxy,
int32_t cameraId,
const String16& clientName,
uid_t clientUid,
Size videoSize,
int32_t frameRate,
bool storeMetaDataInVideoBuffers) {
ALOGV("initWithCameraAccess");
status_t err = OK;
if ((err = isCameraAvailable(camera, proxy, cameraId,
clientName, clientUid)) != OK) {
ALOGE("Camera connection could not be established.");
return err;
}
CameraParameters params(mCamera->getParameters());
if ((err = isCameraColorFormatSupported(params)) != OK) {
return err;
}
// Set the camera to use the requested video frame size
// and/or frame rate.
if ((err = configureCamera(¶ms,
videoSize.width, videoSize.height,
frameRate))) {
return err;
}
#ifdef MTK_AOSP_ENHANCEMENT
#ifdef MTK_SLOW_MOTION_VIDEO_SUPPORT
ALOGI("recheck color format for slow motion (direct link).");
CameraParameters params_(mCamera->getParameters());
if ((err = isCameraColorFormatSupported(params_)) != OK) {
return err;
}
#endif
#endif
// Check on video frame size and frame rate.
CameraParameters newCameraParams(mCamera->getParameters());
if ((err = checkVideoSize(newCameraParams,
videoSize.width, videoSize.height)) != OK) {
return err;
}
if ((err = checkFrameRate(newCameraParams, frameRate)) != OK) {
return err;
}
// Set the preview display. Skip this if mSurface is null because
// applications may already set a surface to the camera.
if (mSurface != NULL) {
// This CHECK is good, since we just passed the lock/unlock
// check earlier by calling mCamera->setParameters().
CHECK_EQ((status_t)OK, mCamera->setPreviewTarget(mSurface));
}
// By default, do not store metadata in video buffers
mIsMetaDataStoredInVideoBuffers = false;
mCamera->storeMetaDataInBuffers(false);
if (storeMetaDataInVideoBuffers) {
if (OK == mCamera->storeMetaDataInBuffers(true)) {
mIsMetaDataStoredInVideoBuffers = true;
}
}
int64_t glitchDurationUs = (1000000LL / mVideoFrameRate);
if (glitchDurationUs > mGlitchDurationThresholdUs) {
mGlitchDurationThresholdUs = glitchDurationUs;
}
// XXX: query camera for the stride and slice height
// when the capability becomes available.
mMeta = new MetaData;
mMeta->setCString(kKeyMIMEType, MEDIA_MIMETYPE_VIDEO_RAW);
mMeta->setInt32(kKeyColorFormat, mColorFormat);
mMeta->setInt32(kKeyWidth, mVideoSize.width);
mMeta->setInt32(kKeyHeight, mVideoSize.height);
mMeta->setInt32(kKeyStride, mVideoSize.width);
mMeta->setInt32(kKeySliceHeight, mVideoSize.height);
mMeta->setInt32(kKeyFrameRate, mVideoFrameRate);
return OK;
}
/* $Procedure LIST ( Process a SUBTeX list item ) */
/* Subroutine */ int list_(char *source, integer *n, ftnlen source_len)
{
/* System generated locals */
integer i__1;
/* Builtin functions */
integer s_cmp(char *, char *, ftnlen, ftnlen);
/* Subroutine */ int s_copy(char *, char *, ftnlen, ftnlen);
/* Local variables */
char line[132], cseq[12];
integer l, begin;
extern /* Subroutine */ int chkin_(char *, ftnlen);
integer index;
extern /* Subroutine */ int tempb_(char *, char *, ftnlen, ftnlen);
integer pgwid, width, iskip;
char token[132];
integer lskip, rskip;
extern /* Subroutine */ int rjust_(char *, char *, ftnlen, ftnlen);
integer remain, indent;
char marker[5];
extern /* Subroutine */ int params_(char *, char *, integer *, ftnlen,
ftnlen), chkout_(char *, ftnlen), tokens_(char *, char *, integer
*, char *, integer *, ftnlen, ftnlen, ftnlen), suffix_(char *,
integer *, char *, ftnlen, ftnlen);
extern logical return_(void);
extern /* Subroutine */ int intstr_(integer *, char *, ftnlen);
/* $ Abstract */
/* Process a @newlist, @numitem, @symitem, or @paritem control */
/* sequence. */
/* $ Disclaimer */
/* THIS SOFTWARE AND ANY RELATED MATERIALS WERE CREATED BY THE */
/* CALIFORNIA INSTITUTE OF TECHNOLOGY (CALTECH) UNDER A U.S. */
/* GOVERNMENT CONTRACT WITH THE NATIONAL AERONAUTICS AND SPACE */
/* ADMINISTRATION (NASA). THE SOFTWARE IS TECHNOLOGY AND SOFTWARE */
/* PUBLICLY AVAILABLE UNDER U.S. EXPORT LAWS AND IS PROVIDED "AS-IS" */
/* TO THE RECIPIENT WITHOUT WARRANTY OF ANY KIND, INCLUDING ANY */
/* WARRANTIES OF PERFORMANCE OR MERCHANTABILITY OR FITNESS FOR A */
/* PARTICULAR USE OR PURPOSE (AS SET FORTH IN UNITED STATES UCC */
/* SECTIONS 2312-2313) OR FOR ANY PURPOSE WHATSOEVER, FOR THE */
/* SOFTWARE AND RELATED MATERIALS, HOWEVER USED. */
/* IN NO EVENT SHALL CALTECH, ITS JET PROPULSION LABORATORY, OR NASA */
/* BE LIABLE FOR ANY DAMAGES AND/OR COSTS, INCLUDING, BUT NOT */
/* LIMITED TO, INCIDENTAL OR CONSEQUENTIAL DAMAGES OF ANY KIND, */
/* INCLUDING ECONOMIC DAMAGE OR INJURY TO PROPERTY AND LOST PROFITS, */
/* REGARDLESS OF WHETHER CALTECH, JPL, OR NASA BE ADVISED, HAVE */
/* REASON TO KNOW, OR, IN FACT, SHALL KNOW OF THE POSSIBILITY. */
/* RECIPIENT BEARS ALL RISK RELATING TO QUALITY AND PERFORMANCE OF */
/* THE SOFTWARE AND ANY RELATED MATERIALS, AND AGREES TO INDEMNIFY */
/* CALTECH AND NASA FOR ALL THIRD-PARTY CLAIMS RESULTING FROM THE */
/* ACTIONS OF RECIPIENT IN THE USE OF THE SOFTWARE. */
/* $ Required_Reading */
/* SUBTeX */
/* $ Keywords */
/* SUBTeX */
/* $ Declarations */
/* $ Detailed_Input */
/* SOURCE are the source lines containing a @newlist, @numitem, */
/* @symitem, or @paritem control sequence, followed by */
/* an associated paragraph of text. */
/* N is the number of source lines. */
/* $ Detailed_Output */
/* Processed lines are saved in the temporary buffer. */
/* $ Brief_I/O */
/* VARIABLE I/O DESCRIPTION */
/* -------- --- -------------------------------------------------- */
/* SOURCE I Source lines. */
/* N I Number of source lines. */
/* $ Files */
/* None. */
/* $ Exceptions */
/* None. */
/* $ Particulars */
/* $ Examples */
/* $ Restrictions */
/* None. */
/* $ Literature_References */
/* $Include SUBTeX.REFS */
/* $ Author_and_Institution */
/* I.M. Underwood (JPL) */
/* $ Version */
/* Beta Version 1.0.0, 11-JUN-1988 (IMU) */
/* -& */
/* SPICELIB functions */
/* Local variables */
/* Standard SPICE error handling */
if (return_()) {
return 0;
} else {
chkin_("LIST", (ftnlen)4);
}
/* Retrieve the required parameters. */
params_("GET", "PAGEWIDTH", &width, (ftnlen)3, (ftnlen)9);
params_("GET", "LEFTSKIP", &lskip, (ftnlen)3, (ftnlen)8);
params_("GET", "RIGHTSKIP", &rskip, (ftnlen)3, (ftnlen)9);
params_("GET", "ITEMINDENT", &indent, (ftnlen)3, (ftnlen)10);
params_("GET", "ITEMSKIP", &iskip, (ftnlen)3, (ftnlen)8);
/* The first token should be a recognized control sequence. */
tokens_("NEW", source, n, cseq, &l, (ftnlen)3, source_len, (ftnlen)12);
/* @newlist just resets the list index. That's all. */
if (s_cmp(cseq, "@newlist", (ftnlen)12, (ftnlen)8) == 0) {
params_("SET", "LISTINDEX", &c__1, (ftnlen)3, (ftnlen)9);
chkout_("LIST", (ftnlen)4);
return 0;
}
/* The principal difference between the various items is the */
/* marker that begins the first line. */
if (s_cmp(cseq, "@numitem", (ftnlen)12, (ftnlen)8) == 0) {
params_("GET", "LISTINDEX", &index, (ftnlen)3, (ftnlen)9);
i__1 = index + 1;
params_("SET", "LISTINDEX", &i__1, (ftnlen)3, (ftnlen)9);
intstr_(&index, marker, (ftnlen)5);
suffix_(".", &c__0, marker, (ftnlen)1, (ftnlen)5);
} else if (s_cmp(cseq, "@symitem", (ftnlen)12, (ftnlen)8) == 0) {
s_copy(marker, "--", (ftnlen)5, (ftnlen)2);
} else if (s_cmp(cseq, "@paritem", (ftnlen)12, (ftnlen)8) == 0) {
s_copy(marker, " ", (ftnlen)5, (ftnlen)1);
}
/* The rest of the text is reformatted into a paragraph of width */
/* PAGEWIDTH - LEFTSKIP - RIGHTSKIP - ITEMINDENT - ITEMSKIP */
/* beginning in column */
/* LEFTSKIP + ITEMINDENT + ITEMSKIP + 1 */
/* The first line contains the marker, right-justified to column */
/* LEFTSKIP + ITEMINDENT */
/* Keep grabbing tokens until the run out. Start a new line whenever */
/* the current line becomes full. REMAIN is the number of spaces */
/* remaining in the current line. */
pgwid = width - lskip - rskip - indent - iskip;
begin = lskip + indent + iskip + 1;
remain = pgwid;
s_copy(line, " ", (ftnlen)132, (ftnlen)1);
rjust_(marker, line, (ftnlen)5, lskip + indent);
s_copy(token, " ", (ftnlen)132, (ftnlen)1);
tokens_("NEXT", source, n, token, &l, (ftnlen)4, source_len, pgwid);
while(s_cmp(token, " ", (ftnlen)132, (ftnlen)1) != 0) {
if (l > remain || s_cmp(token, "@newline", (ftnlen)132, (ftnlen)8) ==
0) {
tempb_("ADD", line, (ftnlen)3, (ftnlen)132);
s_copy(line, " ", (ftnlen)132, (ftnlen)1);
remain = pgwid;
s_copy(line + (begin - 1), token, 132 - (begin - 1), (ftnlen)132);
remain = remain - l - 1;
} else if (s_cmp(line + (begin - 1), " ", 132 - (begin - 1), (ftnlen)
1) == 0) {
s_copy(line + (begin - 1), token, 132 - (begin - 1), (ftnlen)132);
remain = remain - l - 1;
} else {
suffix_(token, &c__1, line + (begin - 1), (ftnlen)132, 132 - (
begin - 1));
remain = remain - l - 1;
}
tokens_("NEXT", source, n, token, &l, (ftnlen)4, source_len, pgwid);
}
if (s_cmp(line, " ", (ftnlen)132, (ftnlen)1) != 0) {
tempb_("ADD", line, (ftnlen)3, (ftnlen)132);
}
/* Every list item is followed by a blank line. */
tempb_("ADD", " ", (ftnlen)3, (ftnlen)1);
chkout_("LIST", (ftnlen)4);
return 0;
} /* list_ */
